U.S. patent number 10,940,857 [Application Number 15/835,915] was granted by the patent office on 2021-03-09 for driving control apparatus for a vehicle.
This patent grant is currently assigned to LG Electronics Inc.. The grantee listed for this patent is LG Electronics Inc.. Invention is credited to Jinkyo Lee, Taeho Noh.
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United States Patent |
10,940,857 |
Lee , et al. |
March 9, 2021 |
Driving control apparatus for a vehicle
Abstract
A driving control apparatus for a vehicle is disclosed. The
driving control apparatus includes: an object detection device
configured to detect objects in the vicinity of the vehicle and
generate information on the objects; a sensing unit configured to
detect a state of the vehicle and generate vehicle state
information; and a processor configured to: based on the vehicle
state information and the information on the objects, generate
information on collision with a first object out of the objects,
and based on the information on the collision, generate a control
signal for at least one of steering, partial braking, and partial
driving of the vehicle and provide the generated control signal so
as to control operation of the vehicle after the collision through
at least one of a steering control action, a partial braking
control action, and a partial driving control action.
Inventors: |
Lee; Jinkyo (Seoul,
KR), Noh; Taeho (Seoul, KR) |
Applicant: |
Name |
City |
State |
Country |
Type |
LG Electronics Inc. |
Seoul |
N/A |
KR |
|
|
Assignee: |
LG Electronics Inc. (Seoul,
KR)
|
Family
ID: |
1000005408821 |
Appl.
No.: |
15/835,915 |
Filed: |
December 8, 2017 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20180162393 A1 |
Jun 14, 2018 |
|
Foreign Application Priority Data
|
|
|
|
|
Dec 9, 2016 [KR] |
|
|
10-2016-0167366 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W
30/095 (20130101); B60W 30/0956 (20130101); B60W
30/0953 (20130101); B60W 30/085 (20130101); B60W
30/09 (20130101); B60W 40/04 (20130101); B60T
8/17558 (20130101); B60Y 2300/0952 (20130101); B60W
2050/0297 (20130101); B60T 2201/024 (20130101); B60W
2050/0292 (20130101); B60T 2260/06 (20130101); B60W
2554/00 (20200201); B60T 2260/04 (20130101); B60W
2554/804 (20200201); B60W 2030/082 (20130101); B60W
2050/0295 (20130101); B60W 2554/803 (20200201); B60Y
2300/0954 (20130101); B60W 2554/801 (20200201); B60W
2554/80 (20200201); B60Y 2300/097 (20130101); B60W
2554/4041 (20200201) |
Current International
Class: |
B60W
30/09 (20120101); B60W 30/095 (20120101); B60W
40/04 (20060101); B60W 30/085 (20120101); B60T
8/1755 (20060101); B60W 50/029 (20120101); B60W
30/08 (20120101) |
Field of
Search: |
;701/301 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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101434234 |
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May 2009 |
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102011108870 |
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102012107188 |
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102013016724 |
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102014008487 |
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DE |
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2002-274295 |
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JP |
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2002-316629 |
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JP |
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2003-081074 |
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2010-179873 |
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Aug 2010 |
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5639282 |
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JP |
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2015-101240 |
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Jun 2015 |
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JP |
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2015-151040 |
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Aug 2015 |
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JP |
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2016-102501 |
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Jun 2016 |
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JP |
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2015/097511 |
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Jul 2015 |
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WO |
|
Other References
Machine translation of DE102013016724 (Year: 2014). cited by
examiner .
Machine translation of JP2016102501 (Year: 2016). cited by examiner
.
Extended European Search Report in European Application No.
17001512.7, dated Jan. 8, 2018, 10 pages. cited by applicant .
Chinese Office Action in Chinese Application No. 201710155254.4,
dated May 21, 2020, 23 pages (with English translation). cited by
applicant.
|
Primary Examiner: McPherson; James M
Attorney, Agent or Firm: Fish & Richardson P.C.
Claims
What is claimed is:
1. A driving control apparatus for a vehicle, the apparatus
comprising: an object detection device configured to detect a
plurality of objects within a predetermined distance from the
vehicle and generate information on the plurality of objects; a
sensing unit configured to detect a state of the vehicle and
generate vehicle state information; and a processor configured to:
based on the vehicle state information and the information on the
plurality of objects, generate information on collision with a
first object out of the plurality of objects, the first object
comprising a nearby vehicle approaching the vehicle from behind,
based on the information on the collision, generate a control
signal for at least one of steering, partial braking, and partial
driving of the vehicle and provide the generated control signal so
as to control operation of the vehicle after the collision through
at least one of a steering control action, a partial braking
control action, and a partial driving control action, generate the
information on collision based on determining that the vehicle
collides with the nearby vehicle, based on the information on the
plurality of objects, determine whether a second object having a
volume less than or equal to a preset volume exists in front of the
vehicle, and based on determining that the second object exists in
front of the vehicle, provide the control signal to control the
vehicle to travel in a released state after the collision with the
nearby vehicle to allow the vehicle to collide with the second
object.
2. The driving control apparatus according to claim 1, wherein the
object detection device is configured to generate information on
the first object, and wherein the processor is configured to: based
on the vehicle state information and the information on the first
object, determine an impulse in the collision between the vehicle
and the first object; and based on information about the impulse,
generate the control signal.
3. The driving control apparatus according to claim 1, wherein the
object detection device is configured to generate information on
the first object, and wherein the processor is configured to: based
on the vehicle state information and the information on the first
object, determine a direction in which the vehicle is to travel
after the collision with the first object; and generate the control
signal based on information on the determined direction.
4. The driving control apparatus according to claim 1, wherein the
processor is configured to: based on the vehicle state information
and information on the first object, determine whether at least one
of a steering apparatus, a power transmission apparatus, and a
brake apparatus is controllable after the collision between the
vehicle and the first object; and provide the control signal to a
controllable device among the steering apparatus, the power
transmission apparatus, and the brake apparatus, and wherein the
power transmission apparatus transfers power, provided from a power
source, to a plurality of wheels.
5. The driving control apparatus according to claim 1, wherein the
first object comprises a first nearby vehicle which is in front of
the vehicle, and wherein the processor is configured to: when it is
determined that the vehicle collides with the first nearby vehicle,
generate the information on the collision; and generate a control
signal for at least one of steering, partial braking, and partial
driving of the vehicle, and provide the generated control signal so
as to control the vehicle to stay off an expected travel path of a
second nearby vehicle, which is travelling behind the vehicle,
after the collision with the first nearby vehicle.
6. The driving control apparatus according to claim 1, wherein the
processor is configured to: based on information on the plurality
of objects, determine whether a sufficient space exists within a
preset range in front of the vehicle; and based on determining that
the sufficient space exists in front of the vehicle, provide the
control signal to control the vehicle to travel in the released
state after the collision with the nearby vehicle.
7. The driving control apparatus according to claim 6, wherein the
processor is configured to: upon collision between the vehicle and
the nearby vehicle, determine a distance by which the vehicle is to
travel in the released state, based on a driving speed of the
vehicle and an impulse in the collision between the vehicle and the
nearby vehicle; and provide the control signal to control the
vehicle to be braked after travelling the determined distance in
the released state.
8. The driving control apparatus according to claim 6, wherein the
processor is configured to: based on the information on the
plurality of objects, determine whether a third object exists
outside the sufficient space; and based on determining that the
third object exists outside the sufficient space, provide the
control signal so as to control the vehicle to be braked, without
colliding with the third object, after travelling in the released
state.
9. The driving control apparatus according to claim 6, wherein the
processor is configured to, in response to a brake input received
through a driving manipulation device after the collision between
the vehicle and the nearby vehicle, control an operation
corresponding to the brake input not to be performed based on
determining that a sufficient space is secured in front of the
vehicle.
10. The driving control apparatus according to claim 1, wherein the
processor is configured to: based on the information on the
plurality of objects, determine a lane in which the vehicle is
located; and provide the control signal so as to control the
vehicle to travel in the determined lane after the collision with
the nearby vehicle.
11. The driving control apparatus according to claim 10, wherein
the processor is configured to: based on the information on the
plurality of objects, determine that a curve is located in front of
the vehicle; and provide the control signal to control the vehicle
to travel in the determined lane and in the curve after the
collision with the nearby vehicle.
12. The driving control apparatus according to claim 1, wherein the
processor is configured to: based on the information on the
plurality of objects, determine whether a third object exists in a
preset range in front of the vehicle; and based on determining that
the third object exists in the preset range, generate a control
signal for at least one of steering, partial braking, and partial
driving of the vehicle, and provide the generated control signal so
as to control the vehicle to avoid colliding with the third object
after the collision with the nearby vehicle.
13. The driving control apparatus according to claim 1, wherein the
first object comprises a nearby vehicle that is approaching the
vehicle from one side, and wherein, when it is determined that the
vehicle collides with the nearby vehicle, the processor is
configured to generate information on the collision.
14. The driving control apparatus according to claim 13, wherein
the information on the collision comprises information about an
impulse in the collision between the vehicle and the nearby vehicle
and information on a part of the vehicle which is affected by the
collision, and wherein the processor is configured to, based on the
information about the impulse and the information on the part
affected by the collision, provide the control signal to
individually drive or brake a plurality of wheels provided in the
vehicle.
15. The driving control apparatus according to claim 14, wherein
the processor is configured to, based on the information on the
part affected by the collision, provide the control signal so as to
apply a greater driving force to a wheel located on the opposite
side where the collision occurs than a wheel located on the side
where the collision occurs, or to apply a smaller driving force to
the wheel located on the side where the collision occurs than the
wheel located on the opposite side where the collision occurs.
16. The driving control apparatus according to claim 14, wherein
the processor is configured to determine, based on the information
about the impulse, an amount of a driving force to be applied to
each of the plurality of wheels provided in the vehicle.
17. A vehicle comprising a driving control apparatus that includes:
an object detection device configured to detect a plurality of
objects within a predetermined distance from the vehicle and
generate information on the plurality of objects; a sensing unit
configured to detect a state of the vehicle and generate vehicle
state information; and a processor configured to: based on the
vehicle state information and the information on the plurality of
objects, generate information on collision with a first object out
of the plurality of objects, the first object comprising a nearby
vehicle approaching the vehicle from behind, based on the
information on the collision, generate a control signal for at
least one of steering, partial braking, and partial driving of the
vehicle and provide the generated control signal so as to control
operation of the vehicle after the collision through at least one
of a steering control action, a partial braking control action, and
a partial driving control action, generate the information on
collision based on determining that the vehicle collides with the
nearby vehicle, based on the information on the plurality of
objects, determine whether a second object having a volume less
than or equal to a preset volume exists in front of the vehicle,
and based on determining that the second object exists in front of
the vehicle, provide the control signal to control the vehicle to
travel in a released state after the collision with the nearby
vehicle to allow the vehicle to collide with the second object.
18. The driving control apparatus according to claim 1, wherein the
processor is configured to, in the released state, control the
vehicle to travel without operating a braking apparatus or applying
driving force to the vehicle after the collision with the nearby
vehicle.
19. The vehicle according to claim 17, wherein the processor is
configured to, in the released state, control the vehicle to travel
without operating a braking apparatus or applying driving force to
the vehicle after the collision with the nearby vehicle.
Description
CROSS-REFERENCE TO RELATED APPLICATION
This application claims the benefit of an earlier filing date and
right of priority to Korean Patent Application No. 10-2016-0167366,
filed on Dec. 9, 2016 in the Korean Intellectual Property Office,
the content of which is incorporated by reference herein in its
entirety.
TECHNICAL FIELD
The present application generally relates to a driving control
apparatus for a vehicle.
BACKGROUND
A vehicle is an apparatus that moves in a direction desired by a
user riding therein. A representative example of a vehicle is an
automobile.
A vehicle typically uses a variety of sensors and electronic
devices for the convenience of a user who uses the vehicle. In
particular, for user driving convenience, an Advanced Driver
Assistance System (ADAS) has been actively studied. In addition,
enormous efforts have been being made to develop autonomous
vehicles. A driving control apparatus for vehicle is provided in
the ADAS or autonomous vehicles.
SUMMARY
In general, one innovative aspect of the subject matter described
in this specification can be implemented in a driving control
apparatus including: an object detection device configured to
detect a plurality of object in the vicinity of the vehicle and
generate information on the plurality of objects; a sensing unit
configured to detect a state of the vehicle and generate vehicle
state information; and a processor configured to: based on the
vehicle state information and the information on the plurality of
objects, generate information on collision with a first object out
of the plurality of objects, and based on the information on the
collision, generate a control signal for at least one of steering,
partial braking, and partial driving of the vehicle and provide the
generated control signal so as to control operation of the vehicle
after the collision through at least one of a steering control
action, a partial braking control action, and a partial driving
control action.
The foregoing and other implementations can each optionally include
one or more of the following features, alone or in combination. In
particular, one implementation includes all the following features
in combination. The object detection device is configured to
generate information on the first object, and wherein the processor
is configured to: based on the vehicle state information and the
information on the first object, determine an impulse in the
collision between the vehicle and the first object; and based on
information about the impulse, generate the control signal. The
object detection device is configured to generate information on
the first object, and wherein the processor is configured to: based
on the vehicle state information and the information on the first
object, determine a direction in which the vehicle is to travel
after the collision with the first object; and generate the control
signal based on information on the determined direction. The
processor is configured to: based on the vehicle state information
and information on the first object, determine whether at least one
of a steering apparatus, a power transmission apparatus, and a
brake apparatus is controllable after the collision between the
vehicle and the first object; and provide the control signal to the
determined controllable device among the steering apparatus, the
power transmission apparatus, and the brake apparatus, and wherein
the power transmission apparatus transfers power, provided from a
power source, to a plurality of wheels. The first object comprises
a first nearby vehicle which is in front of the vehicle, and
wherein the processor is configured to: when it is determined that
the vehicle collides with the first nearby vehicle, generate the
information on the collision; and generate a control signal for at
least one of steering, partial braking, and partial driving of the
vehicle, and provide the generated control signal so as to control
the vehicle to stay off an expected travel path of a second nearby
vehicle, which is travelling behind the vehicle, after the
collision with the first nearby vehicle. The first object comprises
a nearby vehicle which is approaching the vehicle from behind, and
wherein the processor is configured to generate the information on
the collision when it is determined that the vehicle collides with
the nearby vehicle. The processor is configured to: based on
information on the plurality of objects, determine a situation in
front of the vehicle; and further based on the determined
situation, generate the control signal. The processor is configured
to: based on information on the plurality of objects, determine
whether a sufficient space exists within a preset range in front of
the vehicle; and when it is determined that the sufficient space
exists in front of the vehicle, provide the control signal to
control the vehicle to travel in a released state after collision
with the nearby vehicle. The processor is configured to: upon
collision between the vehicle and the nearby vehicle, determine a
distance by which the vehicle is to travel in a released state,
based on a driving speed of the vehicle and an impulse in the
collision between the vehicle and the nearby vehicle; and provide
the control signal to control the vehicle to be braked after
travelling the determined distance in the released state. The
processor is configured to: based on the information on the
plurality of objects, determine whether a second object exists
located outside the sufficient space; and when it is determined
that the second object exists outside the sufficient space, provide
the control signal so as to control the vehicle to be braked,
without colliding with the second object, after travelling in the
released state. When it is determined that a sufficient space is
secured in front of the vehicle in the case where a brake input is
received through a driving manipulation device after the collision
between the vehicle and the nearby vehicle, the processor is
configured to control an operation following the brake input not to
be performed. The processor is configured to: based on the
information on the plurality of objects, determine whether an
object of volume equal to or smaller than a preset volume exists in
front of the vehicle; and when it is determined that a second
object of volume equal to or smaller than the preset volume exists
in front of the vehicle, provide the control signal so as to
control the vehicle to travel in the released state after the
collision with the nearby vehicle and collide with the second
object. The processor is configured to: based on the information on
the plurality of objects, determine a lane in which the vehicle is
travelling; and provide the control signal so as to control the
vehicle to travel in the determined lane after the collision with
the nearby vehicle. The processor is configured to: based on the
information on the plurality of objects, determine a lane and the
existence of a curve located in front of the vehicle; and provide
the control signal to control the vehicle to travel in the
determined lane in the curve after the collision with the nearby
vehicle. The processor is configured to: based on the information
on the plurality of objects, determine whether a second object
exists located in a preset range in front of the vehicle; and when
it is determined that the second object exists in the preset range,
generate a control signal for at least one of steering, partial
braking, and partial driving of the vehicle and provide the
generated control signal so as to control the vehicle to avoid
colliding with the second object after the collision with the
nearby vehicle. The first object comprises a nearby vehicle that is
approaching the vehicle from one side, and wherein, when it is
determined that the vehicle collides with the nearby vehicle, the
processor is configured to generate information on the collision.
The information on the collision comprises information about an
impulse in the collision between the vehicle and the nearby vehicle
and information on a part of the vehicle which is affected by the
collision, and wherein the processor is configured to, based on the
information about the impulse and the information on the part
affected by the collision, provide the control signal to
individually drive or brake a plurality of wheels provided in the
vehicle. The processor is configured to, based on the information
on the part affected by the collision, provide the control signal
so as to apply a greater driving force to a wheel located on the
opposite side where the collision occurs than a wheel located on
the side where the collision occurs, or to apply a smaller driving
force to the wheel located on the side where the collision occurs
than the wheel located on the opposite side where the collision
occurs. The processor is configured to determine, based on the
information about the impulse, an amount of a driving force to be
applied to each of the plurality of wheels provided in the
vehicle.
In general, another innovative aspect of the subject matter
described in this specification can be implemented in a vehicle
comprising a driving control apparatus that includes: an object
detection device configured to detect a plurality of object in the
vicinity of the vehicle and generate information on the plurality
of objects; a sensing unit configured to detect a state of the
vehicle and generate vehicle state information; and a processor
configured to: based on the vehicle state information and the
information on the plurality of objects, generate information on
collision with a first object out of the plurality of objects, and
based on the information on the collision, generate a control
signal for at least one of steering, partial braking, and partial
driving of the vehicle and provide the generated control signal so
as to control operation of the vehicle after the collision through
at least one of a steering control action, a partial braking
control action, and a partial driving control action.
The details of one or more examples of the subject matter described
in this specification are set forth in the accompanying drawings
and the description below. Other potential features, aspects, and
advantages of the subject matter will become apparent from the
description, the drawings, and the claims.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a diagram illustrating an example of a vehicle;
FIG. 2 is a diagram illustrating an example of an exterior of a
vehicle;
FIGS. 3 and 4 are diagrams illustrating examples of an interior of
a vehicle;
FIGS. 5 and 6 are diagrams illustrating examples of one or more
objects outside a vehicle;
FIG. 7 is a diagram illustrating an example of a vehicle;
FIG. 8 is a diagram illustrating an example of a driving control
apparatus;
FIG. 9 is a flowchart illustrating an example of operating a
driving control apparatus;
FIGS. 10A and 10B are diagrams illustrating examples of a driving
control apparatus that determines an impulse from a collision
between a vehicle and an object;
FIG. 11 is a diagram illustrating an example of a driving control
apparatus that determines whether a chassis of a vehicle is
controllable after a collision of the vehicle;
FIG. 12 is a diagram illustrating an example of a driving control
apparatus that determines a travel direction of a vehicle after a
collision of the vehicle;
FIG. 13 is a diagram illustrating an example of a driving control
apparatus in a state in which a front portion of a vehicle
collides;
FIGS. 14 to 17 are diagrams illustrating examples of a driving
control apparatus in a state in which a rear portion of a vehicle
collides;
FIG. 18 is a diagram illustrating an example of a driving control
apparatus in a state in which a side portion of a vehicle collides;
and
FIG. 19 is a diagram illustrating an example of a driving control
apparatus protecting a pedestrian.
Like reference numbers and designations in the various drawings
indicate like elements.
DETAILED DESCRIPTION
Although technologies for preventing a traffic accident have been
developed and studied, technologies for controlling a vehicle after
an accident still remain at an embryonic stage.
It is often difficult to control a vehicle after an accident, which
can result in a second accident due to difficulties in reducing
impulses applied to the vehicle.
A driving control apparatus can control a vehicle even if the
vehicle collides with an object. Thus, when the vehicle collides
with an object, the driving control apparatus can control the
vehicle to reduce impulse from the collision. In addition, the
driving control apparatus can control the vehicle to prevent
subsequent vehicle accidents that are caused by the collision.
A vehicle may include an automobile and a motorcycle. In addition,
a vehicle may include an internal combustion engine vehicle
including an engine as a power source, a hybrid vehicle including
both an engine and an electric motor as a power source, and an
electric vehicle including an electric motor as a power source.
FIG. 1 illustrates an example vehicle. FIG. 2 illustrates an
example exterior of a vehicle. FIGS. 3 and 4 illustrate an example
interior of a vehicle. FIGS. 5 and 6 illustrate one or more example
objects outside a vehicle. FIG. 7 illustrates an example
vehicle.
In FIGS. 1 to 7, a vehicle 100 may include a plurality of wheels,
which are rotated by a power source, and a steering input device
510 for adjusting a direction of travel of the vehicle 100.
The vehicle 100 may be an autonomous vehicle.
The vehicle 100 may be switched to an autonomous driving mode or a
manual mode in response to a user input.
For example, in response to a user input received through a user
interface device 200, the vehicle 100 may be switched from a manual
mode to an autonomous driving mode, or vice versa.
The vehicle 100 may be switched to an autonomous mode or a manual
mode based on driving situation information.
The driving situation information may include at least one of the
following: information on an object outside a vehicle, navigation
information, and vehicle condition information.
For example, the vehicle 100 may be switched from the manual mode
to the autonomous driving mode, or vice versa, based on driving
situation information generated in the object detection device
300.
As another example, the vehicle 100 may be switched from the manual
mode to the autonomous driving mode, or vice versa, based on
driving situation information received through a communication
device 400.
The vehicle 100 may be switched from the manual mode to the
autonomous driving mode, or vice versa, based on information, data,
and a signal provided from an external device.
When the vehicle 100 operates in the autonomous driving mode, the
autonomous vehicle 100 may operate based on an operation system
700.
For example, the autonomous vehicle 100 may operate based on
information, data, or signals generated in a driving system 710, a
parking-out system 740, and a parking system 750.
While operating in the manual mode, the autonomous vehicle 100 may
receive a user input for driving of the vehicle 100 through a
driving operation device 500. In response to the user input
received through the driving operation device 500, the vehicle 100
may operate.
For example, the term "overall length" can represent the length
from the front end to the rear end of the vehicle 100, the term
"overall width" can represent the width of the vehicle 100, and the
term "overall height" can represent the height from the bottom of
the wheel to the roof. In the following description, the term
"overall length direction L" can represent the reference direction
for the measurement of the overall length of the vehicle 100, the
term "overall width direction W" can represent the reference
direction for the measurement of the overall width of the vehicle
100, and the term "overall height direction H" can represent the
reference direction for the measurement of the overall height of
the vehicle 100.
As illustrated in FIG. 7, the vehicle 100 may include the user
interface device 200, the object detection device 300, the
communication device 400, the driving operation device 500, a
vehicle drive device 600, an operation system 700, a navigation
system 770, a sensing unit 120, an interface unit 130, a memory
140, at least one processor such as controller 170, and a power
supply unit 190.
In some implementations, the vehicle 100 may further include other
components in addition to the aforementioned components, or may not
include some of the aforementioned components.
The user interface device 200 is configured to communicate between
the vehicle 100 and a user. The user interface device 200 may
receive a user input, and provide information generated in the
vehicle 100 to the user. The vehicle 100 may implement User
Interfaces (UI) or User Experience (UX) through the user interface
device 200.
The user interface device 200 may include an input unit 210, an
internal camera 220, a bio-sensing unit 230, an output unit 250,
and at least one processor such as processor 270.
In some implementations, the user interface device 200 may further
include other components in addition to the aforementioned
components, or may not include some of the aforementioned
components.
The input unit 210 is configured to receive information from a
user, and data collected in the input unit 210 may be analyzed by
the processor 270 and then processed into a control command of the
user.
The input unit 210 may be located inside the vehicle 100. For
example, the input unit 210 may be disposed in one region of a
steering wheel, one region of an instrument panel, one region of a
seat, one region of each pillar, one region of a door, one region
of a center console, one region of a head lining, one region of a
sun visor, one region of a windshield, or one region of a
window.
The input unit 210 may include a voice input unit 211, a gesture
input unit 212, a touch input unit 213, and a mechanical input unit
214.
The voice input unit 211 may convert a voice input of a user into
an electrical signal. The converted electrical signal may be
provided to the processor 270 or the controller 170.
The voice input unit 211 may include one or more microphones.
The gesture input unit 212 may convert a gesture input of a user
into an electrical signal. The converted electrical signal may be
provided to the processor 270 or the controller 170.
The gesture input unit 212 may include at least one selected from
among an infrared sensor and an image sensor for sensing a gesture
input of a user.
In some implementations, the gesture input unit 212 may sense a
three-dimensional (3D) gesture input of a user. To this end, the
gesture input unit 212 may include a plurality of optical output
units for outputting infrared light, or a plurality of image
sensors.
The gesture input unit 212 may sense the 3D gesture input by
employing a Time of Flight (TOF) scheme, a structured light scheme,
or a disparity scheme.
The touch input unit 213 may convert a user's touch input into an
electrical signal. The converted electrical signal may be provided
to the processor 270 or the controller 170.
The touch input unit 213 may include a touch sensor for sensing a
touch input of a user.
In some implementations, the touch input unit 210 may be integrally
formed with a display unit 251 as one body to implement a touch
screen. The touch screen may provide an input interface and an
output interface between the vehicle 100 and the user.
The mechanical input unit 214 may include at least one selected
from among a button, a dome switch, a jog wheel, and a jog switch.
An electrical signal generated by the mechanical input unit 214 may
be provided to the processor 270 or the controller 170.
The mechanical input unit 214 may be located on a steering wheel, a
center fascia, a center console, a cockpit module, a door, etc.
The internal camera 220 may acquire images of the inside of the
vehicle. The processor 270 may sense a user's condition based on
the images of the inside of the vehicle. The processor 270 may
acquire information on eye gaze information of the user. The
processor 270 may sense a gesture of the user from the images of
the inside of the vehicle.
The bio-sensing unit 230 may acquire biological information of the
user. The bio-sensing unit 230 may include a sensor for acquire
biological information of the user, and may utilize the sensor to
acquire finger print information, heart rate information, etc. of
the user. The biological information may be used for user
authentication.
The output unit 250 is configured to generate a visual, acoustic,
or tactile output.
The output unit 250 may include at least one selected from among a
display unit 251, a sound output unit 252, and a haptic output unit
253.
The display unit 251 may display graphic objects corresponding to
various types of information.
The display unit 251 may include at least one selected from among a
Liquid Crystal Display (LCD), a Thin Film Transistor-Liquid Crystal
Display (TFT LCD), an Organic Light-Emitting Diode (OLED), a
flexible display, a 3D display, and an e-ink display.
The display unit 251 may form an inter-layer structure together
with the touch input unit 213, or may be integrally formed with the
touch input unit 213 to implement a touch screen.
The display unit 251 may be implemented as a Head Up Display (HUD).
When implemented as a HUD, the display unit 251 may include a
projector module in order to output information through an image
projected on a windshield or a window.
The display unit 251 may include a transparent display. The
transparent display may be attached on the windshield or the
window.
The transparent display may display a predetermined screen with a
predetermined transparency. In order to achieve the transparency,
the transparent display may include at least one selected from
among a transparent Thin Film Electroluminescent (TFEL) display, an
Organic Light Emitting Diode (OLED) display, a transparent Liquid
Crystal Display (LCD), a transmissive transparent display, and a
transparent Light Emitting Diode (LED) display. The transparency of
the transparent display may be adjustable.
In some implementations, the user interface device 200 may include
a plurality of display units 251a to 251g.
The display unit 251 may be disposed in one region of a steering
wheel, one region 251a, 251b, or 251e of an instrument panel, one
region 251d of a seat, one region 251f of each pillar, one region
251g of a door, one region of a center console, one region of a
head lining, one region of a sun visor, one region 251c of a
windshield, or one region 251h of a window.
The sound output unit 252 converts an electrical signal from the
processor 270 or the controller 170 into an audio signal, and
outputs the audio signal. To this end, the sound output unit 252
may include one or more speakers.
The haptic output unit 253 generates a tactile output. For example,
the haptic output unit 253 may operate to vibrate a steering wheel,
a safety belt, and seats 110FL, 110FR, 110RL, and 110RR so as to
allow a user to recognize the output thereof.
The processor 270 may control the overall operation of each unit of
the user interface device 200.
In some implementations, the user interface device 200 may include
a plurality of processors 270 or may not include the processor
270.
In the case where the user interface device 200 does not include
the processor 270, the user interface device 200 may operate under
the control of the controller 170 or a processor of a different
device inside the vehicle 100.
In some implementations, the user interface device 200 may be
referred to as a display device for vehicles.
The user interface device 200 may operate under the control of the
controller 170.
The object detection device 300 is configured to detect an object
located outside the vehicle 100. The object detection device 300
may generate object information based on sensing data.
The object information may include information as to whether any
object exists, location information of an object, information on a
distance between the vehicle 100 and the object, and information on
speed of the vehicle relative to the object.
The object may include various objects related to travelling of the
vehicle 100.
Referring to FIGS. 5 and 6, an object o may include a lane OB10, a
vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, a
traffic signal OB14 and OB15, a light, a road, a structure, a bump,
a geographical feature, an animal, etc.
The lane OB10 may be a lane in which the vehicle 100 is traveling,
a lane next to the lane in which the vehicle 100 is traveling, and
a lane in which a different vehicle is travelling in the opposite
direction. The lane OB10 may include left and right lines that
define the lane.
The vehicle OB11 may be a vehicle that is travelling in the
vicinity of the vehicle 100. The vehicle OB11 may be a vehicle
within a predetermined distance from the vehicle 100. For example,
the vehicle OB11 may be a vehicle that is preceding or following
the vehicle 100.
The pedestrian OB12 may be a person in the vicinity of the vehicle
100. The pedestrian OB12 may be a person within a predetermined
distance from the vehicle 100. For example, the pedestrian OB12 may
be a person on a sidewalk or on the roadway.
The two-wheeled vehicle OB13 is a vehicle that is located in the
vicinity of the vehicle and moves with two wheels. The two-wheeled
vehicle OB13 may be a vehicle that has two wheels within a
predetermined distance from the vehicle 100. For example, the
two-wheeled vehicle OB13 may be a motorcycle or a bike on a
sidewalk or the roadway.
The traffic signal may include a traffic lamp OB15, a traffic sign
OB14, and a pattern or text painted on a road surface.
The light may be light generated by a lamp provided in the vehicle.
The light may be light generated by a street light. The light may
be solar light.
The road may include a road surface, a curve, and slopes, such as
an uphill slope and a downhill slope.
The structure may be a body located around the road in the state of
being fixed onto the ground. For example, the structure may include
a streetlight, a roadside tree, a building, a traffic lamp, and a
bridge.
The geographical feature may include a mountain and a hill.
In some implementations, the object may be classified as a movable
object or a stationary object. For example, the movable object may
include a vehicle and a pedestrian. For example, the stationary
object may include a traffic signal, a road, and a structure.
The object detection device 300 may include a camera 310, a radar
320, a lidar 330, an ultrasonic sensor 340, an infrared sensor 350,
and a processor 370.
In some implementations, the object detection device 300 may
further include other components in addition to the aforementioned
components, or may not include some of the aforementioned
components.
The camera 310 may be located at an appropriate position outside
the vehicle in order to acquire images of the outside of the
vehicle. The camera 310 may be a mono camera, a stereo camera 310a,
an Around View Monitoring (AVM) camera 310b, or a 360-degree
camera.
The camera 310 may utilize various image processing algorithms to
acquire location information of the object, information on the
distance to the object, and information on the speed relative to
the object.
For example, the camera 310 may acquire the information on the
distance to the object and the information on the speed relative to
the object, based on a change in size of the object over time in
acquired images.
For example, the camera 310 may acquire the information on the
distance to the object and the information on the speed relative to
the object through a pin hole model or through profiling a road
surface.
As another example, the camera 310 may acquire the information on
the distance to the object and the information on the speed
relative to the object, based on information on disparity between
stereo images acquired by the stereo camera 310a.
For example, the camera 310 may be disposed near a front windshield
in the vehicle in order to acquire images of the front of the
vehicle. Alternatively, the camera 310 may be disposed around a
front bumper or a radiator grill.
As another example, the camera 310 may be disposed near a rear
glass in the vehicle in order to acquire images of the rear of the
vehicle. Alternatively, the camera 310 may be disposed around a
rear bumper, a trunk, or a tailgate.
In yet another example, the camera 310 may be disposed near at
least one of the side windows in the vehicle in order to acquire
images of the side of the vehicle. Alternatively, the camera 310
may be disposed around a side mirror, a fender, or a door.
The camera 310 may provide an acquired image to the processor
370.
The radar 320 may include an electromagnetic wave transmission unit
and an electromagnetic wave reception unit. The radar 320 may be
realized as a pulse radar or a continuous wave radar depending on
the principle of emission of an electronic wave. In addition, the
radar 320 may be realized as a Frequency Modulated Continuous Wave
(FMCW) type radar or a Frequency Shift Keying (FSK) type radar
depending on the waveform of a signal.
The radar 320 may detect an object through the medium of an
electromagnetic wave by employing a time of flight (TOF) scheme or
a phase-shift scheme, and may detect a location of the detected
object, the distance to the detected object, and the speed relative
to the detected object.
The radar 320 may be located at an appropriate position outside the
vehicle 100 in order to sense an object located in front of the
vehicle 100, an object located to the rear of the vehicle 100, or
an object located to the side of the vehicle 100.
The lidar 330 may include a laser transmission unit and a laser
reception unit. The lidar 330 may be implemented by the TOF scheme
or the phase-shift scheme.
The lidar 330 may be implemented as a drive type lidar or a
non-drive type lidar.
When implemented as the drive type lidar, the lidar 300 may rotate
by a motor and detect an object in the vicinity of the vehicle
100.
When implemented as the non-drive type lidar, the lidar 300 may
utilize a light steering technique to detect an object located
within a predetermined distance from the vehicle 100.
The lidar 330 may detect an object through the medium of laser
light by employing the TOF scheme or the phase-shift scheme, and
may detect a location of the detected object, the distance to the
detected object, and the speed relative to the detected object.
The lidar 330 may be located at an appropriate position outside the
vehicle 100 in order to sense an object located in front of the
vehicle 100, an object located to the rear of the vehicle 100, or
an object located to the side of the vehicle 100.
The ultrasonic sensor 340 may include an ultrasonic wave
transmission unit and an ultrasonic wave reception unit. The
ultrasonic sensor 340 may detect an object based on an ultrasonic
wave, and may detect a location of the detected object, the
distance to the detected object, and the speed relative to the
detected object.
The ultrasonic sensor 340 may be located at an appropriate position
outside the vehicle 100 in order to detect an object located in
front of the vehicle 100, an object located to the rear of the
vehicle 100, and an object located to the side of the vehicle
100.
The infrared sensor 350 may include an infrared light transmission
unit and an infrared light reception unit. The infrared sensor 350
may detect an object based on infrared light, and may detect a
location of the detected object, the distance to the detected
object, and the speed relative to the detected object.
The infrared sensor 350 may be located at an appropriate position
outside the vehicle 100 in order to sense an object located in
front of the vehicle 100, an object located to the rear of the
vehicle 100, or an object located to the side of the vehicle
100.
The processor 370 may control the overall operation of each unit of
the object detection device 300.
The processor 370 may detect or classify an object by comparing
sensing data with pre-stored data, the sensing data which is sensed
by the camera 310, the radar 320, the lidar 330, the ultrasonic
sensor 340, and the infrared sensor 350.
The processor 370 may detect an object and track the detected
object based on acquired images. The processor 370 may, for
example, calculate the distance to the object and the speed
relative to the object.
For example, based on change in size over time of an object in
acquired images, the processor 370 may acquire information on
distance to the object and information on speed relative to the
object.
For example, the processor 370 may acquire information on distance
to an object and information on speed relative to the object, by
utilizing a pin hole model or by profiling a road surface.
For example, based on information on disparity of stereo images
acquired by a stereo camera 310a, the camera 310 may acquire the
information on distance to an object and information on speed
relative to the object.
The processor 370 may detect an object and track the detected
object based on a reflection electromagnetic wave which is formed
as a result of reflection a transmission electromagnetic wave by
the object. Based on the electromagnetic wave, the processor 370
may, for example, calculate the distance to the object and the
speed relative to the object.
The processor 370 may detect an object and track the detected
object based on a reflection laser light which is formed as a
result of reflection of transmission laser by the object. Based on
the laser light, the processor 370 may, for example, calculate the
distance to the object and the speed relative to the object.
The processor 370 may detect an object and track the detected
object based on a reflection ultrasonic wave which is formed as a
result of reflection of a transmission ultrasonic wave by the
object. Based on the ultrasonic wave, the processor 370 may, for
example, calculate the distance to the object and the speed
relative to the object.
The processor 370 may detect an object and track the detected
object based on reflection infrared light which is formed as a
result of reflection of transmission infrared light by the object.
Based on the infrared light, the processor 370 may, for example,
calculate the distance to the object and the speed relative to the
object.
In some implementations, the object detection device 300 may
include a plurality of processors 370 or may not include the
processor 370. For example, each of the camera 310, the radar 320,
the lidar 330, the ultrasonic sensor 340, and the infrared sensor
350 may include its own processor.
In the case where the object detection device 300 does not include
the processor 370, the object detection device 300 may operate
under the control of the controller 170 or a processor inside the
vehicle 100.
The object detection device 300 may operate under the control of
the controller 170.
The communication device 400 is configured to perform communication
with an external device. Here, the external device may be a
vehicle, a mobile terminal, or a server.
To perform communication, the communication device 400 may include
at least one selected from among a transmission antenna, a
reception antenna, a Radio Frequency (RF) circuit capable of
implementing various communication protocols, and an RF device.
The communication device 400 may include a short-range
communication unit 410, a location information unit 420, a V2X
communication unit 430, an optical communication unit 440, a
broadcast transmission and reception unit 450, an Intelligent
Transport Systems (ITS) communication unit 460, and a processor
470.
In some implementations, the communication device 400 may further
include other components in addition to the aforementioned
components, or may not include some of the aforementioned
components.
The short-range communication unit 410 is configured to perform
short-range communication. The short-range communication unit 410
may support short-range communication using at least one selected
from among Bluetooth.TM., Radio Frequency IDdentification (RFID),
Infrared Data Association (IrDA), Ultra-WideBand (UWB), ZigBee,
Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi
Direct, and Wireless USB (Wireless Universal Serial Bus).
The short-range communication unit 410 may form wireless area
networks to perform short-range communication between the vehicle
100 and at least one external device.
The location information unit 420 is configured to acquire location
information of the vehicle 100. For example, the location
information unit 420 may include a Global Positioning System (GPS)
module or a Differential Global Positioning System (DGPS)
module.
The V2X communication unit 430 is configured to perform wireless
communication between a vehicle and a server (that is, vehicle to
infra (V2I) communication), wireless communication between a
vehicle and another vehicle located outside of the vehicle (that
is, vehicle to vehicle (V2V) communication), or wireless
communication between a vehicle and a pedestrian (that is, vehicle
to pedestrian (V2P) communication).
The optical communication unit 440 is configured to perform
communication with an external device through the medium of light.
The optical communication unit 440 may include a light emitting
unit, which converts an electrical signal into an optical signal
and transmits the optical signal to the outside, and a light
receiving unit which converts a received optical signal into an
electrical signal.
In some implementations, the light emitting unit may be integrally
formed with a lamp provided included in the vehicle 100.
The broadcast transmission and reception unit 450 is configured to
receive a broadcast signal from an external broadcasting management
server or transmit a broadcast signal to the broadcasting
management server through a broadcasting channel. The broadcasting
channel may include a satellite channel, and a terrestrial channel.
The broadcast signal may include a TV broadcast signal, a radio
broadcast signal, and a data broadcast signal.
The ITS communication unit 460 may exchange information, data, or
signals with a traffic system. The ITS communication unit 460 may
provide acquired information or data to the traffic system. The ITS
communication unit 460 may receive information, data, or signals
from the traffic system. For example, the ITS communication unit
460 may receive traffic information from the traffic system and
provide the traffic information to the controller 170. As another
example, the ITS communication unit 460 may receive a control
signal from the traffic system, and provide the control signal to
the controller 170 or a processor provided in the vehicle 100.
The processor 470 may control the overall operation of each unit of
the communication device 400.
In some implementations, the communication device 400 may include a
plurality of processors 470, or may not include the processor
470.
In the case where the communication device 400 does not include the
processor 470, the communication device 400 may operate under the
control of the controller 170 or a processor of a device inside of
the vehicle 100.
In some implementations, the communication device 400 may implement
a vehicle display device, together with the user interface device
200. In this case, the vehicle display device may be referred to as
a telematics device or an Audio Video Navigation (AVN) device.
The communication device 400 may operate under the control of the
controller 170.
The driving manipulation device 500 is configured to receive a user
input for driving the vehicle 100.
In the manual mode, the vehicle 100 may operate based on a signal
provided by the driving operation device 500.
The driving manipulation device 500 may include a steering input
device 510, an acceleration input device 530, and a brake input
device 570.
The steering input device 510 may receive a user input with regard
to the driving direction of the vehicle 100. The steering input
device 510 may take the form of a wheel to enable a steering input
through the rotation thereof. In some implementations, the steering
input device may be configured as a touchscreen, a touch pad, or a
button.
The acceleration input device 530 may receive a user input for
acceleration of the vehicle 100. The brake input device 570 may
receive a user input for deceleration of the vehicle 100. Each of
the acceleration input device 530 and the brake input device 570
may take the form of a pedal. In some implementations, the
acceleration input device or the break input device may be
configured as a touch screen, a touch pad, or a button.
The driving manipulation device 500 may operate under the control
of the controller 170.
The vehicle drive device 600 is configured to electrically control
the operation of various devices of the vehicle 100.
The vehicle drive device 600 may include a power train drive unit
610, a chassis drive unit 620, a door/window drive unit 630, a
safety equipment drive unit 640, a lamp drive unit 650, and an air
conditioner drive unit 660.
In some implementations, the vehicle drive device 600 may further
include other components in addition to the aforementioned
components, or may not include some of the aforementioned
components.
In some implementations, the vehicle drive device 600 may include a
processor. Each unit of the vehicle drive device 600 may include
its own processor.
The power train drive unit 610 may control the operation of a power
train.
The power train drive unit 610 may include a power source drive
unit 611 and a transmission drive unit 612.
The power source drive unit 611 may control a power source of the
vehicle 100.
In the case in which a fossil fuel-based engine is the power
source, the power source drive unit 611 may perform electronic
control of the engine. As such the power source drive unit 611 may
control, for example, the output torque of the engine. The power
source drive unit 611 may adjust the output toque of the engine
under the control of the controller 170.
In the case where an electric motor is the power source, the power
source drive unit 611 may control the motor. The power source drive
unit 610 may control, for example, the RPM and toque of the motor
under the control of the controller 170.
The transmission drive unit 612 may perform control of a
transmission.
The transmission drive unit 612 may adjust the state of the
transmission. The transmission drive unit 612 may change the
transmission to a drive (D), reverse (R), neutral (N), or park (P)
state.
In some implementations, in the case where an engine is the power
source, the transmission drive unit 612 may adjust a gear-engaged
state to the drive (D) state.
The chassis drive unit 620 may control the operation of a
chassis.
The chassis drive unit 620 may include a steering drive unit 621, a
brake drive unit 622, a suspension drive unit 623, and a
differential 624.
The steering drive unit 621 may perform electronic control of a
steering apparatus provided inside the vehicle 100. The steering
drive unit 621 may change the driving direction of the vehicle
100.
The brake drive unit 622 may perform electronic control of a brake
apparatus provided inside the vehicle 100. For example, the brake
drive unit 622 may reduce the speed of the vehicle 100 by
controlling the operation of a brake located at a wheel.
In some implementations, the brake drive unit 622 may control a
plurality of brakes individually. The brake drive unit 622 may
perform control such that a different degree-braking force is
applied to each wheel.
The suspension drive unit 623 may perform electronic control of a
suspension apparatus inside the vehicle 100. For example, when the
road surface is uneven, the suspension drive unit 623 may control
the suspension apparatus so as to reduce the vibration of the
vehicle 100.
In some implementations, the suspension drive unit 623 may control
a plurality of suspensions individually.
The differential 624 may control a different driving force to be
applied to each wheel of the vehicle 100. For example, the
differential 624 may include a first differential provided in the
front axle shaft, and a second differential provided in the rear
axle shaft. The first differential may control a different driving
force to be applied to each of the two front wheels. The second
differential may control a different driving force to be applied to
each of the two rear wheels.
The door/window drive unit 630 may perform electronic control of a
door apparatus or a window apparatus inside the vehicle 100.
The door/window drive unit 630 may include a door drive unit 631
and a window drive unit 632.
The door drive unit 631 may control the door apparatus. The door
drive unit 631 may control opening or closing of a plurality of
doors included in the vehicle 100. The door drive unit 631 may
control opening or closing of a trunk or a tail gate. The door
drive unit 631 may control opening or closing of a sunroof.
The window drive unit 632 may perform electronic control of the
window apparatus. The window drive unit 632 may control opening or
closing of a plurality of windows included in the vehicle 100.
The safety apparatus drive unit 640 may perform electronic control
of various safety apparatuses provided inside the vehicle 100.
The safety apparatus drive unit 640 may include an airbag drive
unit 641, a seat belt drive unit 642, and a pedestrian protection
equipment drive unit 643.
The airbag drive unit 641 may perform electronic control of an
airbag apparatus inside the vehicle 100. For example, upon
detection of a dangerous situation, the airbag drive unit 641 may
control an airbag to be deployed.
The seat belt drive unit 642 may perform electronic control of a
seatbelt apparatus inside the vehicle 100. For example, upon
detection of a dangerous situation, the seat belt drive unit 642
may control passengers to be fixed onto seats 110FL, 110FR, 110RL,
and 110RR with seat belts.
The pedestrian protection equipment drive unit 643 may perform
electronic control of a hood lift and a pedestrian airbag. For
example, upon detection of a collision with a pedestrian, the
pedestrian protection equipment drive unit 643 may control a hood
lift and a pedestrian airbag to be deployed.
The lamp drive unit 650 may perform electronic control of various
lamp apparatuses provided inside the vehicle 100.
The air conditioner drive unit 660 may perform electronic control
of an air conditioner inside the vehicle 100. For example, when the
inner temperature of the vehicle 100 is high, an air conditioner
drive unit 660 may operate the air conditioner so as to supply cool
air to the inside of the vehicle 100.
The vehicle drive device 600 may include a processor. Each unit of
the vehicle dive device 600 may include its own processor.
The vehicle drive device 600 may operate under the control of the
controller 170.
The operation system 700 is a system for controlling the overall
driving operation of the vehicle 100. The operation system 700 may
operate in the autonomous driving mode.
The operation system 700 may include the driving system 710, the
parking-out system 740, and the parking system 750.
In some implementations, the operation system 700 may further
include other components in addition to the aforementioned
components, or may not include some of the aforementioned
component.
In some implementations, the operation system 700 may include a
processor. Each unit of the operation system 700 may include its
own processor.
In some implementations, in the case where the operation system 700
is implemented as software, the operation system 700 may be
subordinate to the controller 170.
In some implementations, the operation system 700 may include at
least one selected from among the user interface apparatus 200, the
object detection device 300, the communication device 400, the
driving manipulation device 500, the vehicle drive device 600, the
navigation system 770, the sensing unit 120, and the controller
170.
The driving system 710 may perform driving of the vehicle 100.
The driving system 710 may receive navigation information from the
navigation system 770 and provide a control signal to the vehicle
drive device 600 to perform driving of the vehicle 100.
The driving system 710 may receive object information from the
object detection device 300 and provides a control signal to the
vehicle drive device 600 to perform driving of the vehicle 100.
The driving system 710 may receive a signal from an external device
through the communication device 400 and provides a control signal
to the vehicle drive device 600 to perform driving of the vehicle
100.
The driving system 710 may be a system which includes at least one
selected from among the user interface apparatus 200, the object
detection device 300, the communication device 400, the driving
manipulation device 500, the vehicle drive device 600, the
navigation system 770, the sensing unit 120, and the controller 170
so as to perform driving of the vehicle 100.
The driving system 710 may be referred to as a vehicle driving
control apparatus.
The parking-out system 740 may perform a parking-out operation of
the vehicle 100.
The parking-out system 740 may receive navigation information from
the navigation system 770 and provide a control signal to the
vehicle drive device 600 to perform a parking-out operation of the
vehicle 100.
The parking-out system 740 may receive object information from the
object detection device 300 and provides a control signal to the
vehicle drive device 600 to perform a parking-out operation of the
vehicle 100.
The parking-out system 740 may receive a signal from an external
device through the communication device 400 and provide a control
signal to the vehicle drive device 600 to perform a parking-out
operation of the vehicle 100.
The parking-out system 740 may be a system which includes at least
one selected from among the user interface device 200, the object
detection device 300, the communication device 400, the driving
manipulation device 500, the vehicle drive device 600, the
navigation system 770, the sensing unit 120, and the controller 170
so as to perform a parking-out operation of the vehicle 100.
The parking-out system 740 may be referred to as a vehicle
parking-out control apparatus.
The parking system 750 may perform a parking-in operation of the
vehicle 100.
The parking system 750 may receive navigation information from the
navigation system 770 and provide a control signal to the vehicle
drive device 600 to perform a parking-in operation of the vehicle
100.
The parking system 750 may receive object information from the
object detection device 300 and provide a control signal to the
vehicle drive device 600 to perform a parking operation of the
vehicle 100.
The parking system 750 may receive a signal from an external device
through the communication device 400 and provide a control signal
to the vehicle drive device 600 to perform a parking-in operation
of the vehicle 100.
The vehicle parking 750 may be a system which includes at least one
selected from among the user interface apparatus 200, the object
detection device 300, the communication device 400, the driving
manipulation device 500, the vehicle drive device 600, the
navigation system 770, the sensing unit 120, and the controller 170
so as to perform a parking-in operation of the vehicle 100.
The parking system 750 may be referred to as a vehicle parking-in
control apparatus.
The navigation system 770 may provide navigation information. The
navigation information may include at least one selected from among
map information, information on a set destination, information on a
route to the set destination, information on various objects along
the route, lane information, and information on a current location
of the vehicle.
The navigation system 770 may include a memory and a processor. The
memory may store navigation information. The processor may control
the operation of the navigation system 770.
In some implementations, the navigation system 770 may update
pre-stored information by receiving information from an external
device through the communication device 400.
In some implementations, the navigation system 770 may be
classified as a sub-component of the user interface device 200.
The sensing unit 120 may sense the state of the vehicle. The
sensing unit 120 may include an attitude sensor (for example, a yaw
sensor, a roll sensor, or a pitch sensor), a collision sensor, a
wheel sensor, a speed sensor, a gradient sensor, a weight sensor, a
heading sensor, a gyro sensor, a position module, a vehicle
forward/reverse movement sensor, a battery sensor, a fuel sensor, a
tire sensor, a steering sensor based on the rotation of the
steering wheel, an in-vehicle temperature sensor, an in-vehicle
humidity sensor, an ultrasonic sensor, an illumination sensor, an
accelerator pedal position sensor, and a brake pedal position
sensor.
The sensing unit 120 may acquire sensing signals with regard to,
for example, vehicle attitude information, vehicle collision
information, vehicle driving direction information, vehicle
location information (GPS information), vehicle angle information,
vehicle speed information, vehicle acceleration information,
vehicle tilt information, vehicle forward/reverse movement
information, battery information, fuel information, tire
information, vehicle lamp information, in-vehicle temperature
information, in-vehicle humidity information, steering-wheel
rotation angle information, out-of-vehicle illumination
information, information about the pressure applied to an
accelerator pedal, and information about the pressure applied to a
brake pedal.
The sensing unit 120 may further include, for example, an
accelerator pedal sensor, a pressure sensor, an engine speed
sensor, an Air Flow-rate Sensor (AFS), an Air Temperature Sensor
(ATS), a Water Temperature Sensor (WTS), a Throttle Position Sensor
(TPS), a Top Dead Center (TDC) sensor, and a Crank Angle Sensor
(CAS).
The sensing unit 120 may generate vehicle state information based
on sensing data. The vehicle state information may be information
that is generated based on data sensed by a variety of sensors
inside a vehicle.
For example, the vehicle state information may include vehicle
position information, vehicle speed information, vehicle tilt
information, vehicle weight information, vehicle direction
information, vehicle battery information, vehicle fuel information,
vehicle tire pressure information, vehicle steering information,
in-vehicle temperature information, in-vehicle humidity
information, pedal position information, vehicle engine temperature
information, etc.
The interface unit 130 may serve as a passage for various kinds of
external devices that are connected to the vehicle 100. For
example, the interface unit 130 may have a port that is connectable
to a mobile terminal and may be connected to the mobile terminal
via the port. In this case, the interface unit 130 may exchange
data with the mobile terminal.
In some implementations, the interface unit 130 may serve as a
passage for the supply of electrical energy to a mobile terminal
connected thereto. When the mobile terminal is electrically
connected to the interface unit 130, the interface unit 130 may
provide electrical energy, supplied from the power supply unit 190,
to the mobile terminal under the control of the controller 170.
The memory 140 is electrically connected to the controller 170. The
memory 140 may store basic data for each unit, control data for the
operational control of each unit, and input/output data. The memory
140 may be any of various hardware storage devices, such as a ROM,
a RAM, an EPROM, a flash drive, and a hard drive. The memory 140
may store various data for the overall operation of the vehicle
100, such as programs for the processing or control of the
controller 170.
In some implementations, the memory 140 may be integrally formed
with the controller 170, or may be implemented as a sub-component
of the controller 170.
The controller 170 may control the overall operation of each unit
inside the vehicle 100. The controller 170 may be referred to as an
Electronic Control Unit (ECU).
The power supply unit 190 may supply power required to operate each
component under the control of the controller 170. In particular,
the power supply unit 190 may receive power from, for example, a
battery inside the vehicle.
At least one processor and the controller 170 included in the
vehicle 100 may be implemented using at least one selected from
among Application Specific Integrated Circuits (ASICs), Digital
Signal Processors (DSPs), Digital Signal Processing Devices
(DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate
Arrays (FPGAs), processors, controllers, micro-controllers,
microprocessors, and electric units for the implementation of other
functions
FIG. 8 illustrates an example driving control apparatus. FIG. 9
illustrates an example method for operating a driving control
apparatus.
Referring to FIG. 8, a driving control apparatus 710 may include an
object detection device 300, a sensing unit 120, a vehicle drive
device 600, at least one processor such as processor 717, a memory
714, an interface unit 718, and a power supply unit 719.
The description about the object detection device 300, which is
provided with reference to FIGS. 1 to 7, may be applied to the
object detection device 300 shown in FIG. 8.
The object detection device 300 may detect a plurality of objects
in the vicinity of the vehicle 100. The object detection device 300
may generate information on each of the plurality of objects.
For example, the object detection device 300 may generate
information on a first object.
For example, the first object may include a vehicle located in
front of the vehicle 100.
For example, the first object may include a vehicle approaching the
vehicle 100 from behind.
For example, the first object may include a vehicle approaching the
vehicle 100 from the left or from the right.
The description about the sensing unit 120, provided with reference
to FIGS. 1 to 7, may be applied to the sensing unit 120 shown in
8.
The sensing unit 120 may sense a state of the vehicle 100. The
sensing unit 120 may generate vehicle state information.
The description about the vehicle drive device 600, provided with
reference to FIGS. 1 to 7, may be applied to the vehicle drive
device 600 shown in FIG. 8.
The vehicle drive device 600 may drive various devices provided
inside the vehicle 100 based on a control signal generated by the
processor 717.
For example, the steering drive unit 621 of the vehicle drive
device 600 may control a steering apparatus based on a control
signal.
For example, the brake drive unit 622 of the vehicle driving unit
600 may control a brake apparatus based on a control signal. In
some implementations, the brake drive unit 622 may individually
control brake apparatuses provided in a plurality of wheels.
Applying different magnitude of a braking force to each of the
plurality of wheels by control of the brake drive unit 622 may be
referred to as a partial braking operation. The brake drive unit
622 may perform a partial braking operation.
For example, the power source drive unit 610 of the vehicle drive
device 600 may control a power source based on a control
signal.
For example, the differential 624 may distribute a driving force to
the wheels based on a control signal.
The vehicle 100 may include a front wheel and a rear wheel. For
example, the vehicle 100 may include two front wheels and two rear
wheels.
In some implementations, front wheels 1801 and 1802 may be
connected to a front axle shaft. The front axle shaft may be a
drive axle which transfers power, or a movable axle which supports
weight of a vehicle. The front axle shaft may include the
differential 624. A first differential provided in the front axle
shaft may control different magnitude of driving force to be
applied to each of the two front wheels. Such a differential may be
electrically connected to the processor 717 to operate under
control of the processor 717.
Rear wheels 1803 and 1804 may be connected to a rear axle shaft.
The rear axle shaft may be a drive axle which transfers power, or a
movable axle which supports weight of a vehicle. The rear axle
shaft may include the differential 624. A second differential
provided in the rear axle shaft may control different driving
forces to be applied to the two rear wheels. Such a differential
may be electrically connected to the processor 717 to operate under
control of the processor 717.
The processor 717 may control the differential 624 to provide a
driving force to the plurality of wheels individually.
Applying different driving forces to the plurality of wheels
through the control of the differential 624 may be referred to as a
partial driving operation. The differential 624 may perform the
partial driving operation.
The processor 717 may control the overall operation of each unit of
the driving control apparatus 710.
Referring to FIG. 9, the processor 717 may acquire information on a
plurality of objects in the vicinity of the vehicle 100 in
S910.
The processor 717 may receive information on the plurality of
objects from the object detection device 300.
For example, the information on the plurality of objects may
include information on a vehicle in the vicinity of the vehicle
100.
The processor 717 may acquire vehicle state information in S920.
Determining as to vehicle state information in S930 may include
determining impulse in S940, determining whether a chassis is
controllable in S950, and determining a direction in which the
vehicle is to travel after collision in S960.
The processor 717 may receive vehicle state information from the
sensing unit 120.
The processor 717 may generate collision information based on the
vehicle state information and information on the plurality of
objects in S930. The collision information may include: information
as to whether a collision occurs; impulse information; information
on a part of the vehicle which is affected by the collision;
information as to whether a chassis is controllable after the
collision; and information on a direction in which the vehicle is
to travel after the collision.
Based on the vehicle state information and the information on the
plurality of objects, the processor 717 may determine a collision
with a first object out of the plurality of objects. The processor
717 may generate collision information based on the determination
of the collision.
The processor 717 may determine impulse in the collision between
the vehicle 100 and the first object in S940. Based on the vehicle
state information and information on the first object, the
processor 717 may determine the impulse in the collision between
the vehicle 100 and the first object. Based on information on the
impulse, the processor 717 may generate a control signal. The
impulse may indicate a measure of impact that results from the
detected collision.
The processor 717 may determine whether a chassis is controllable
after the collision between the vehicle 100 and the first object in
S950. After the collision between the vehicle 100 and the first
object, the processor 717 may determine whether any one selected
from among a steering apparatus, a power transmission apparatus,
and a brake apparatus is controllable, based on the vehicle state
information and the information on the first object. The power
transmission apparatus may be an apparatus that transfers power,
provided from a power source, to a plurality of wheels. The power
transmission apparatus may include the aforementioned differential
624.
The processor 717 may include a control signal to a controllable
device among the steering apparatus, the power transmission
apparatus, and the brake apparatus.
The processor 717 may determine a direction of the vehicle 100 to
move after the collision between the vehicle 100 and the first
object in S960. Based on the vehicle state information and the
information on the first object, the processor 717 may determine a
direction of the vehicle 100 to move after the collision between
the vehicle 100 and the first object. Based on information on the
determined direction, the processor 717 may generate a control
signal.
Based on collision information, the processor 717 may generate a
control signal in S970.
In order to control operation of the vehicle 100 after the
collision, the processor 717 may generate a control signal for at
least one of steering, partial braking, and partial driving based
on the collision information.
The processor 717 may provide a control signal to the vehicle drive
device 600.
The processor 717 may generate a control signal for steering and
provide the control signal to the steering drive unit 621.
The processor 717 may generate a control signal for braking and
provide the control signal to the brake drive unit 622.
The processor 717 may generate a control signal for partial braking
and provide the control signal to the brake drive unit 622.
The processor 717 may generate a control signal for driving and
provide the control signal to the power source drive unit 611.
The processor 717 may generate a control signal for partial driving
and provide the control signal to the differential 624.
The processor 717 may provide the generated control signal so as to
control operation of the vehicle after the collision through at
least one of a steering control action, a partial braking control
action, and a partial driving control action.
The memory 714 is electrically connected to the processor 717. The
memory 714 may store basic data for each unit, control data for the
operational control of each unit, and input/output data. The memory
714 may be any of various hardware storage devices, such as a ROM,
a RAM, an EPROM, a flash drive, and a hard drive. The memory 714
may store various data for the overall operation of the driving
control apparatus 710, such as programs for the processing or
control of the processor 717.
In some implementations, the memory 714 may be integrally formed
with the processor 717, or may be provided as an element of the
processor 717.
The interface unit 718 may exchange information, data, or signal
with a different device included in the vehicle 100. The interface
unit 718 may receive information, data, or a signal from a
different device included in the vehicle 100. The interface unit
718 may transmit received information, received data, or a received
signal to the processor 717. The processor 717 may information,
data, or a signal, which is generated or processed in the processor
717, to a different device included in the vehicle 100.
Under control of the processor 717, the power supply unit 719 may
supply power required for operation of each component. In
particular, the power supply unit 719 may be supplied with power
from a battery inside the vehicle 100.
FIGS. 10A and 10B illustrate an example driving control apparatus
that determines an impulse from a collision between a vehicle and
an object.
The processor 717 may determine an impulse resulting from a
collision between a first object 1010 and the vehicle 100. The
impulse may be a measure of an impact of the detected
collision.
Referring to FIG. 10A, the processor 717 may acquire information on
the first object 1010 from the object detection device 300.
The information on the first object 1010 may include location
information of the first object 1010, information on a distance
between the vehicle 100 and the first object 1010, information on a
speed of the vehicle 100 relative to the first object 1010, and
weight information of the first object 1010. The processor 717 may
acquire the weight information based on size information of the
first object 1010.
The processor 717 may acquire information on the vehicle 100 from
the sensing unit 120 or from the memory 714.
The information on the vehicle 100 may include speed information
and weight information thereof.
The processor 717 may determine impulse in the collision between
the vehicle 100 and the first object 1010 based on information
about the first object 1010 and the vehicle 100.
The processor 717 may determine the impulse before or after the
collision between the vehicle 100 and the first object 1010.
The processor 717 may determine a direction of impact based on the
location information of the first object 1010.
Referring to FIG. 10B, vehicle state information may be generated
based on a value sensed by an Inertial Measurement Unit (IMU) 1020
or an impact sensor 1030.
The sensing unit 120 may include the IMU 1020. The IMU 1020 may
include a gyro sensor and an accelerometer sensor.
The processor 717 may determine impulse based on a value sensed by
the IMU 1020 after collision between the vehicle 100 and the first
object 1010.
The sensor 120 may include an impact sensor 1030.
The processor 717 may determine impulse based on a value sensed by
the impact sensor 1030 after the collision between the vehicle 100
and the first object 1010.
The processor 717 may determine a direction of impact based on a
value sensed by the IMU 1020 or the impact sensor 1030 after the
collision between the vehicle 100 and the first object 1010.
FIG. 11 illustrates an example driving control apparatus that
determines whether a chassis of a vehicle is controllable after a
collision of the vehicle.
Referring to FIG. 11, the processor 717 may determine whether a
chassis is controllable after collision between the vehicle 100 and
a first object.
For example, the processor 717 may determine whether a chassis is
controllable, based on a signal that is received in response to a
signal transmitted to the chassis.
For example, based on a direction of impact, the processor 717 may
determine whether the chassis is controllable.
The processor 717 may determine a direction of impact. Based on the
determined direction of impact, the processor 717 may determine the
collision to be forward collision, backward collision, or side
collision.
For example, when a forward collision occurs, the processor 717 may
determine that it is not possible to control braking and driving of
a steering apparatus and the front wheels.
For example, when a backward collision occurs, the processor 717
may determine that it is not possible to control braking and
driving of the rear wheels.
For example, when a side collision occurs, the processor 717 may
determine that it is not possible to control braking and driving of
a wheel located on the side where the collision occurs.
The processor 717 may provide a control signal to a controllable
device among a steering apparatus, a power transmission apparatus,
and a brake apparatus.
For example, if a forward collision occurs and it is not possible
to control braking and driving of the steering apparatus and the
front wheels, the processor 717 may provide a signal to control
braking and driving of the rear wheels. In this case, the processor
717 may adjust a driving direction of the vehicle 100 by partial
braking or partial driving of the rear wheels.
For example, if a backward collision occurs and it is not possible
to control braking and driving the rear wheels, the processor 717
may provide a signal to control braking and driving of the front
wheels. In this case, the processor 717 may adjust a driving
direction of the vehicle 100 through steering control.
Alternatively, the processor 717 may adjust a driving direction of
the vehicle 100 through partial braking or partial driving of the
front wheels.
For example, in scenarios where a backward collision occurs, making
it difficult to control braking and driving of a wheel located on
the side where the collision occurs, the processor 717 may provide
a signal to control braking or driving of a wheel located on the
side where the collision has not occurred. In this case, the
processor 717 may adjust a driving direction of the vehicle 100
through steering control. Alternatively, the processor 717 may
adjust a driving direction of the vehicle 100 through partial
braking or partial driving of the wheel located on the side where
the collision has not occurred.
FIG. 12 illustrates an example driving control apparatus that
determines a travel direction of a vehicle after a collision of the
vehicle.
Referring to FIG. 12, the processor 717 may determine a direction
in which the vehicle 100 is to travel after collision between the
vehicle 100 and a first object.
The processor 717 may determine a direction of the impact. The
processor 717 may determine a direction of impact based on a value
sensed by the IMU 1020.
For example, after the vehicle 100 collides with a first object,
the IMU 1020 may sense a reduction in longitudinal acceleration. In
this case, the processor 717 may determine that a forward collision
occurs in which the vehicle 100 collides with the first object that
is in front of the vehicle 100.
For example, after the vehicle 100 collides with a first object,
the IMU 1020 may sense an increase in acceleration, which is
indicated by reference numeral 1212. In this case, the processor
717 may determine that a backward collision occurs in which the
vehicle 100 collides with the first object that is located behind
the vehicle 100.
For example, after the vehicle 100 collides with a first object,
the IMU 1020 may sense an increase/decrease in a lateral
acceleration and an increase/decrease in the yaw rate. In this
case, the processor 717 may determine that a side collision occurs
in which the vehicle 100 collides with the first object that is
located on the side of the vehicle 100.
The processor 717 may determine a direction of impact based on a
value sensed by the collision sensor 1030. For example, the
processor 717 may determine a direction of impact based on a sensed
value indicating a direction of impulse.
The processor 717 may determine a direction of impact based on
object information generated by the object detection device
300.
For example, the object detection device 300 may sense a reduction
in a relative distance between the vehicle 100 and a first object,
as indicated by reference numeral 1221. Alternatively, the object
detection device 300 may sense a reduction in a relative speed
between the vehicle 100 and a first object in front of the vehicle
100, as indicated by reference numeral 1231. At this point, the
relative speed may be reduced with a negative value. In this case,
the processor 717 may determine that a forward collision occurs in
which the vehicle 100 collides with the first object in front of
the vehicle 100.
For example, the object detection device 300 may sense a reduction
in a relative distance between the vehicle 100 and a first object,
which is behind the vehicle 100, as indicated by reference numeral
1222. Alternatively, the object detection device 300 may sense a
reduction in a relative speed between the vehicle 100 and a first
object, which is behind the vehicle 100, as indicated by reference
numeral 1232. In this case, the processor 717 may determine that a
backward collision occurs such that the vehicle 100 collides with
the first object that is located behind the vehicle 100.
For example, the object detection device 300 may sense a reduction
in a relative distance between the vehicle 100 and a first object,
which is on the side of the vehicle 100, as indicated by reference
numeral 1223. Alternatively, the object detection device 300 may
sense a reduction in a relative speed between the vehicle 100 and a
first object, which is on the side of the vehicle 100, as indicated
by reference numeral 1233. In this case, the processor 717 may
determine that a side collision occurs in which the vehicle 100
collides with the first object that is located on the side of the
vehicle 100.
Based on object information generated by the object detection
device 300, the processor 717 may determine information on a part
of the vehicle 100 which is affected by the collision.
For example, the processor 717 may determine information about a
collision part, based on an image acquired through the camera 310
or the lidar 330.
The processor 717 may determine a direction in which the vehicle
100 is to travel after collision, based on information on a driving
direction of the vehicle 100 before the collision, information on a
driving speed, information on a direction of impact in the
collision, information on a part of the vehicle 100 which is
affected by the collision, and information about impulse.
FIG. 13 illustrates an example operation of a driving control
apparatus in a state in which a front portion of a vehicle
collides.
Referring to FIG. 13, a first object may include a first vehicle
1310 which is in front of the vehicle 100.
The processor 717 may receive vehicle state information from the
sensing unit 120.
The processor 717 may receive information on the first vehicle 1310
from the object detection device 300.
Based on the vehicle state information and the information on the
first vehicle 1310, the processor 717 may determine that a forward
collision occurs in which the vehicle 100 collides with the first
vehicle 1310 that is in front of the vehicle 100.
The processor 717 may generate collision information based on the
vehicle state information and the information on the first vehicle
1310.
Based on the collision information, the processor 717 may generate
a control signal for at least one of steering, partial braking, and
partial driving of the vehicle 100, and provide the generated
control signal. The processor 717 may generate a control signal for
at least one of steering, partial braking, and partial driving of
the vehicle 100, and provide the generated control signal so as to
control the vehicle 100 to stray off an expected travel path of a
second vehicle 1320, which is travelling behind the vehicle 100,
after the collision with the first vehicle 1310.
For example, when forward collision occurs, the processor 717 may
determine that it is not possible to control braking or driving of
the steering apparatus and the front wheels. In this case, the
processor 717 may adjust a driving direction of the vehicle 100
through partial braking or partial driving of the rear wheels.
Specifically, the processor 717 may apply different magnitude of a
braking or driving force to the left rear wheel and the right rear
wheel. By the partial braking or partial driving control, the
vehicle 100 may move in the left direction or the right
direction.
FIGS. 14 to 17 illustrate example operations of a driving control
apparatus in a state in which a rear portion of a vehicle
collides.
Referring to FIG. 14, a first object may include a vehicle 1410
approaching the vehicle 100 from behind.
The processor 717 may receive vehicle state information from the
sensing unit 120.
The processor 717 may receive information on the vehicle 1410 from
the object detection device 300.
Based on the vehicle state information and the information on the
vehicle 1410, the processor 717 may determine that a backward
collision occurs in which the vehicle 100 collides with the vehicle
1410 that is behind the vehicle 100.
The processor 717 may generate collision information based on the
vehicle state information and the information on the vehicle
1410.
Based on the collision information, the processor 717 may generate
a control signal for at least one of steering, partial braking, and
partial driving of the vehicle 100, and provide the generated
control signal.
Referring to FIG. 15, the processor 717 may determine a situation
in front of the vehicle 100, based on information on a plurality of
objects.
Further based on the determined situation, the processor 717 may
generate a control signal for at least one of steering, partial
braking, and partial driving of the vehicle 100.
Based on the information on a plurality of objects, the processor
717 may determine that a sufficient space 1510 is secured within a
preset range in front of the vehicle 100.
The sufficient space 1510 may be a space where any obstacle
interfering with travelling of the vehicle 100 does not exist. The
sufficient space 1510 may be a preset space. For example, the
sufficient space 1510 may be a space that has a preset length based
on a driving speed of the vehicle 100.
If it is determined that the sufficient space 1510 is secured in
front of the vehicle 100, the processor 717 may provide a control
signal to cause the vehicle 100 to travel in a released mode after
the backward collision with the vehicle 1410.
Travelling in a released mode indicates travelling without a
braking or driving force applied to wheels of the vehicle 100. The
processor 717 may provide a control signal to a plurality of wheels
to prevent a braking or driving operation.
Since the vehicle 100 is controlled to travel in a released mode
after the backward collision, it is possible to distribute impact
energy in the collision and therefore impulse to be applied to a
passenger may be reduced.
When the vehicle 100 collides with the vehicle 1410, the processor
717 may determine a distance, by which the vehicle 100 is to travel
in a released mode, based on a driving speed of the vehicle 100 and
impulse in the collision between the vehicle 100 and the vehicle
1410.
Upon the collision, the processor 717 may calculate a distance
1511, by which the vehicle 100 is to travel in a released mode, to
be proportional to a driving speed of the vehicle 100.
Upon the collision, the processor 717 may calculate a distance, by
which the vehicle 100 is to travel in a released mode, to be
proportional to the impulse detected in the collision.
The processor 717 may generate a control signal to control the
vehicle 100 to be braked after travelling the distance 1511 in a
released mode.
Based on information on a plurality of objects, the processor 717
may determine as to existence of a second object 1520 located
outside the sufficient space 1510.
The object detection device 300 may detect the second object 1520.
The object detection device 300 may generate information on the
second object 1520. The processor 717 may receive information on
the second object 1520 from the object detection device 300. Based
on the information on the subject object 1520, the processor 717
may determine as to existence of the second object 1520 located
outside the sufficient space 1510.
If it is determined that the second object 1520 exists outside the
sufficient space 1510, the processor 717 may provide a control
signal to cause the vehicle 100 to travel in a release state and
then be braked without colliding the second object.
The processor 717 may determine the distance 1511, by which the
vehicle 100 travels in a released mode, and a braking distance 1512
based on Time To Collision (TTC) with the second object 1520. Here,
the TTC may be calculated based on a relative distance between the
vehicle 100 and the second object 1520 and a relative speed between
the vehicle 100 and the second object 1520.
If it is determined that the sufficient space 1510 is secured in
front of the vehicle 100 in the case where a brake input is
received through the driving manipulation device 500 after
collision between the vehicle 100 and the vehicle 1410, the
processor 717 may control an operation following the brake input
not to be performed.
If the sufficient space 1510 is secured in front of the vehicle 100
even in the case where the brake input is received through the
driving manipulation device 500, the processor 717 may generate a
control signal to control the vehicle 100 to be braked after
travelling in a released mode.
In this manner, even when a driver manipulates a brake pedal after
backward collision, it is possible to distribute impact energy in
the collision, thereby reducing impulse to be applied to a
passenger.
Based on information on a plurality of objects, the processor 717
may determine whether an object of volume equal to or smaller than
a preset volume exists in front of the vehicle 100.
Based on information on a plurality of objects, the processor 717
may determine whether an object of weight equal to or smaller than
a preset weight exists in front of the vehicle 100.
The object detection device 300 may compare a detected object with
data stored in a memory, classify the object, and confirm the
classification. For example, the object detection device 300 may
detect an object, and classify the detected object as small animal
or loads in a different vehicle, and confirm the classification.
Based on information on the classified and confirmed object, the
processor 717 may determine that the object has volume or weight
equal to or smaller than a preset volume.
If it is determined that a second object of volume equal to or
smaller than a preset volume or of weight equal to or lighter than
a preset weight exists in front of the vehicle 100, the processor
717 may provide a control signal to control the vehicle 100 to
continue travelling in a released mode after the initial collision
with another vehicle. In such scenarios, the vehicle may be allowed
to continue travelling and collide with the second object that was
detected to have the small volume.
In the case where the second object of volume equal to or smaller
than a preset volume exists in front of the vehicle 100, if the
vehicle 100 is controlled to travel in a released mode and collide
with the second object, it may result in a less disastrous
consequence, compared to the case where sudden and hard braking is
performed and results in the failure of distributing the
impulse.
Referring to FIG. 16A, based on information on a plurality of
objects, the processor 717 may determine a lane 1610 in which the
vehicle 100 is travelling.
The object detection device 300 may detect a lane based on an image
acquired by the camera 310. The object detection device 300 may
generate information on the detected lane. Based on the information
on the lane, the processor 717 may determine a lane 1610 in which
the vehicle 100 is travelling.
In order to control the vehicle 100 to travel within the lane 1610
after collision with the vehicle 1410, the processor 717 may
generate a control signal for at least one of steering, partial
braking, and partial driving of the vehicle 100, and provide the
generated control signal.
For example, when backward collision occurs, the processor 717 may
determine that it is not possible to control braking and driving of
the rear wheels. In this case, the processor 717 may provide a
signal for steering or braking/driving of the front wheels. In this
case, the processor 717 may adjust a driving direction of the
vehicle 100 through a steering control action. Alternatively, the
processor 717 may adjust a driving direction of the vehicle 100
through partial braking or partial driving of the front wheels.
By controlling the vehicle 100 not to depart from the driving lane
1610 even in the case of backward collision between the vehicle 100
and the vehicle 1410, it is possible to prevent a second accident
with another vehicle travelling in a different lane.
Referring to FIG. 16B, based on information on a plurality of
object, the processor 717 may determine as to existence of a curve
1620 located in front of the vehicle 100.
The object detection device 300 may detect a lane based on an image
acquired by the camera 310. The object detection device 300 may
generate information on the detected lane.
The object detection device 300 may detect the curve 1620 based on
an image acquired by the camera 310. The object detection device
300 may generate information on the detected curve 1620.
In order to control the vehicle 100 to travel within the lane 1610
in the curve 1620 after the collision with the vehicle 1410, the
processor 717 may generate a control signal for at least one of
steering, partial braking, and partial driving of the vehicle 100,
and provide the generated control signal.
For example, when backward collision occurs, the processor 717 may
determine that it is not possible to control braking and driving
the rear wheels. In this case, the processor 717 may provide a
signal for steering or braking/driving of the front wheels. In this
case, the processor 717 may adjust a driving direction of the
vehicle 100 through a steering control action. Alternatively, the
processor 717 may adjust a driving direction of the vehicle 100
through partial braking or partial driving of the front wheels.
In some implementations, there may be a cliff at the curve. The
processor 717 may acquire information on the cliff through the
navigation system 770. In this case, the processor 717 may provide
a control signal for at least one of steering, partial braking, and
partial driving of the vehicle 100, and provide the generated
control signal so as to prevent the vehicle 100 from traveling
close to the cliff.
Referring to FIG. 17, based on information on a plurality of
objects, the processor 717 may determine as to existence of a
second object 1710 located within a preset range in front of the
vehicle 100.
The object detection device 300 may detect a second object 1710.
The object detection device 300 may generate information on the
second object 1710. Based on the information on the second object
1710, the processor 717 may determine as to existence of the second
object 1710 located within a preset range in front of the vehicle
100.
If it is determined that the second object exists within the preset
range, the processor 717 may generate a control signal for at least
one of steering, partial braking, and partial driving of the
vehicle 100, and provide the generated control signal so as to
prevent collision between the vehicle 100 and the second object
1710 after collision between the vehicle 100 and the vehicle
1410.
For example, when backward collision occurs, the processor 717 may
determine that it is not possible to control braking and driving of
the rear wheels. In this case, the processor 717 may provide a
signal for steering or for braking/driving the front wheels. In
this case, the processor 717 may adjust a driving direction of the
vehicle 100 through a steering control action. Alternatively, the
processor 717 may adjust a driving direction of the vehicle 100
through partial braking or partial driving of the front wheels.
FIG. 18 illustrates an example operation of a driving control
apparatus in a state in which a side portion of a vehicle
collides.
Referring to FIG. 18, a first object may include a vehicle 1810
approaching the vehicle 100 from the side.
The processor 717 may receive vehicle state information from the
sensing unit 120.
The processor 717 may receive information on the vehicle 1810 from
the object detection device 300.
Based on the vehicle state information and the information on the
vehicle 1810, the processor 717 may determine that a side collision
occurs in which the vehicle 100 collides with the vehicle 1810 that
is approaching the vehicle 100 from one side.
The processor 717 may generate collision information based on the
vehicle state information and the information on the vehicle
1810.
Based on the collision information, the processor 717 may generate
a control signal for at least one of steering, partial braking, and
partial driving of the vehicle, and then provide the generated
control signal.
In some implementations, the collision information may include
information about an impulse in the collision between the vehicle
100 and the vehicle 1810, and information on a part of the vehicle
100 which is affected by the collision.
Based on the information about the impulse and the information on
the part affected by the collision, the processor 717 may generate
a control signal and provide the generated control signal to
individually drive or brake a plurality of wheels provided in the
vehicle 100.
For example, based on the information on the part affected by the
collision, the processor 717 may generate a control signal and
provide the generated control signal so as to apply a greater
driving force to a wheel 1801 located on the opposite side where
the collision occurs than a wheel 1802 located on the side where
the collision occurs. In this case, the processor 717 may control
the wheel 1802, which is located on the side where the collision
occurs, to be released.
For example, based on the information on the part affected by the
collision, the processor 717 may generate a control signal and
provide the generated control signal so as to apply a smaller
driving force to the wheel 1802 located on the side where the
collision occurs than the wheel 1801 located on the opposite side
where the collision occurs.
For example, based on the information on the part affected by the
collision, the processor 717 may generate a control signal and
provide the generated control signal so as to apply a smaller
driving force to the wheel 1801 located on the opposite side where
the collision occurs than the wheel 1802 located on the side where
the collision occurs.
For example, based on the information on the part affected by the
collision, the processor 717 may generate a control signal and
provide the generated control signal so as to apply a greater
braking force to the wheel 1802 located on the side where the
collision occurs than the wheel 1801 located on the opposite side
where the collision occurs
Based on the information about the impulse, the processor 717 may
determine magnitude of a driving force to be applied to each of the
wheels 1801, 1802, 1803, and 1804 provided in the vehicle 100.
For example, the processor 717 may determine magnitude of a driving
force, which is to be applied to the wheel 1801 on the opposite
side where the collision occurs, to be proportional to the
impulse.
For example, the processor 717 may determine magnitude of a braking
force, which is to be applied to the wheel 1802 located on the side
where the collision occurs, to be proportional to the impulse.
Based on the collision information, the processor 717 may generate
a control signal for controlling suspensions of the vehicle 100 and
provide the generated control signal.
A plurality of suspensions may be respectively connected to the
plurality of wheels 1801, 1802, 1803, and 1804 included in the
vehicle 100.
The processor 717 may control the plurality of suspensions
individually.
For example, based on the information on the part affected by the
collision, the processor 717 may generate a control signal and
provide the generated control signal so as to lower a suspension
corresponding to the wheel 1802, located on the side where the
collision occurs, to be positioned lower than a suspension
corresponding to the wheel 1801 located on the opposite side where
the collision occurs.
For example, based on the information on the part affected by the
collision, the processor 717 may generate a control signal and
provide the generated control signal so as to raise a suspension
corresponding to the wheel 1801, located on the opposite side where
the collision occurs, to be positioned higher than a suspension
corresponding to the wheel 1802 located on the side where the
collision occurs.
In some implementations, based on the collision information, the
processor 717 may generate a control signal for steering and
provide the generated control signal.
For example, when a side collision occurs to the front part 1821 of
the vehicle 100, the processor 717 may generate a control signal
for steering and provide the generated control signal.
For example, when a side collision occurs to the rear part 1822 of
the vehicle 100, the processor 717 may generate a control signal
for steering and provide the generated control signal so as to
steer the vehicle 100 in a direction opposite to a direction where
the collision occurs.
The front part 1821 and the rear part 1822 may be divided by a
center line CL of the overall-length direction of the vehicle
100.
In this manner, even in the case where a side collision occurs, the
vehicle 100 may be prevented from rolling over or spinning, thereby
enabled to avoid a more disastrous consequence.
FIG. 19 illustrates an example operation of a driving control
apparatus to protect a pedestrian.
Referring to FIG. 19, the object detection device 300 may detect an
object to be dodged. The object to be dodged may include a
pedestrian 1910, a two-wheeled vehicle 1915, a sidewalk 1920, and a
centerline 1930.
The processor 717 may determine whether an object to be dodged is
located in the vicinity of the vehicle 100, based on information on
a plurality of objects.
The processor 717 may generate a control signal for at least one of
steering, partial braking, and partial driving of the vehicle 100
and provide the generated control signal so as to prevent the
vehicle 100 from travelling toward the object to be dodged after
collision with a first object 1901.
For example, the processor 717 may generate a control signal for at
least one of steering, partial braking, and partial driving of the
vehicle 100 and provide the generated control signal so as to
prevent the vehicle 100 from colliding with a pedestrian 1910 and a
two-wheeled vehicle 1915 after collision with the first object
1901.
For example, the processor 717 may generate a control signal for at
least one of steering, partial braking, and partial driving of the
vehicle 100, and provide the generated control signal so as to
prevent the vehicle 100 from moving onto a sidewalk 1920 or
crossing a centerline 1830.
The examples described above may be implemented as code that can be
written on a computer-readable medium in which a program is
recorded and thus read by a computer. The computer-readable medium
includes all kinds of recording devices in which data is stored in
a computer-readable manner. Examples of the computer-readable
recording medium may include a hard disk drive (HDD), a solid state
disk (SSD), a silicon disk drive (SDD), a read only memory (ROM), a
random access memory (RAM), a compact disk read only memory
(CD-ROM), a magnetic tape, a floppy disc, and an optical data
storage device. In addition, the computer-readable medium may be
implemented as a carrier wave (e.g., data transmission over the
Internet). In addition, the computer may include a processor or a
controller.
The examples described above can be modified. In particular,
various variations and modifications can be made in the component
parts and/or arrangements of the subject combination arrangement.
In addition to variations and modifications in the component parts
and/or arrangements, any suitable alternatives in the component
parts and/or arrangements are possible.
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